Motor control device

ABSTRACT

A motor control device controls driving of a motor in response to d-axis and q-axis current commands set on the basis of a torque command. The motor control device includes: an electrical angle estimation unit configured to estimate an electrical angle of the motor according to at least one of methods of estimating the electrical angle on the basis that a leakage current in a q axis becomes zero by applying a voltage to a d axis, on the basis that at least one of a phase current difference and a line current difference caused by an induced voltage generated due to rotation of the motor becomes zero, and on the basis of a voltage equation, depending on an angular velocity of the motor, a modulation rate of a pwm signal, and whether a magnetic flux change is included in a nonlinear region.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is based on and claims priority under 35 U.S.C. § 119to Japanese Patent Applications 2018-227184 and 2019-077584, filed onDec. 4, 2018 and Apr. 16, 2019, respectively, the entire contents ofwhich are incorporated herein by reference.

TECHNICAL FIELD

This disclosure relates to a motor control device, and particularly to amotor control device including an electrical angle estimation unit thatestimates an electrical angle of a motor.

BACKGROUND DISCUSSION

In the related art, there is a motor control device including anelectrical angle estimation unit estimating an electrical angle of amotor (for example, refer to Japanese Patent No. 3312472 (Reference 1)and JP 2017-70122A (Reference 2)).

In Reference 1, an alternating voltage is applied to a motor, and amotor current that flows due to the application of the alternatingvoltage (AC voltage) is detected. The detected motor current is dividedinto a component parallel to and a component orthogonal to the appliedalternating voltage. Here, in a case where the alternating voltage isapplied to the motor, a current also flows in a direction orthogonal toa vector of the alternating voltage except when the vector of thealternating voltage is parallel or orthogonal to a rotor magnetic poleaxis. The current is detected, and thus a phase difference angle betweenthe vector of the alternating voltage and a magnetic flux axis can bedetected. A phase of the vector of the alternating voltage that isapplied such that a phase difference angle becomes zero is adjusted, andthus a magnetic pole position (electrical angle) is indirectlyestimated.

In Reference 2, an electrical angle of a motor is estimated on the basisof an adaptive observer model and an extended induced voltage observermodel. In the adaptive observer model, a state (magnetic flux) and anoutput (current) of an AC motor are estimated through calculation on thebasis of an input (a voltage command for an inverter) for the AC motor,and an electrical angle is estimated on the basis of a deviation betweenan estimated current and a current detected by a current sensor. In theextended induced voltage observer model, an electrical angle isestimated by using a state quantity such as an extended induced voltagehaving position information of a rotor on the basis of motor parameterssuch as a resistance and an inductance that are measurable in advanceand physical quantities such as a current and a voltage that aredetectable by sensors.

In the estimation of an electrical angle disclosed in Reference 1 andReference 2, the electrical angle may be successively estimated (at arelatively small angle interval).

Here, in the estimation of an electrical angle disclosed in Reference 1and Reference 2, the electrical angle may be successively estimated (ata relatively small angle interval), and a problem that there is a casewhere an error occurs in the estimation of the electrical angle has beenfound.

Thus, a need exists for a motor control device which is not susceptibleto the drawback mentioned above.

SUMMARY

A motor control device according to an aspect of the present inventioncontrols driving of a motor provided with a permanent magnet in responseto a d-axis current command and a q-axis current command that are set onthe basis of a torque command, and the motor control device includes anelectrical angle estimation unit configured to estimate an electricalangle of the motor according to at least one of a first method ofestimating the electrical angle of the motor on the basis that a leakagecurrent in a q axis becomes zero by applying a voltage to a d axis and,a second method of estimating the electrical angle of the motor on thebasis of at least one of a phase current difference and a line currentdifference caused by an induced voltage generated due to rotation of themotor becomes zero, and a third method of estimating the electricalangle on the basis of a voltage equation, depending on an angularvelocity of the motor, a modulation rate of a pwm signal, and whether amagnetic flux change is included in a nonlinear region in which themagnetic flux change is nonlinear, in which, in a case where theelectrical angle of the motor is estimated according to at least one ofthe first method and the third method, with respect to the electricalangle estimated according to the second method, the electrical angleestimation unit is configured to replace the electrical angle estimatedaccording to at least one of the first method and the third method withthe electrical angle estimated according to the second method.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and additional features and characteristics of thisdisclosure will become more apparent from the following detaileddescription considered with the reference to the accompanying drawings,wherein:

FIG. 1 is a block diagram illustrating a motor control device accordingto a first embodiment disclosed here;

FIG. 2 is a diagram for describing current detection according to athree-shunt method;

FIG. 3 is a diagram illustrating a relationship between a q-axis currentand torque;

FIG. 4 is a diagram illustrating a relationship between a change rate ofthe q-axis current and a load;

FIG. 5 is a flowchart for describing a process of estimating anelectrical angle according to a first method;

FIG. 6 is a block diagram (partially enlarged view) illustrating themotor control device according to the first embodiment disclosed here;

FIG. 7 is a diagram illustrating a map of dω;

FIG. 8 is a diagram for describing interpolation calculation;

FIG. 9 is a diagram for describing switching between the first methodand a third method;

FIG. 10 is a diagram for describing smoothing of an estimated electricalangle;

FIG. 11 is a diagram for describing switching (combined calculation)between θ0e{circumflex over ( )} and θ01e{circumflex over ( )};

FIG. 12 is a diagram for describing a plurality of times of sampling;

FIG. 13 is a diagram for describing correction of a phase of anelectrical angle estimated according to a second method;

FIG. 14 is a diagram for describing current detection according to asingle-shunt method according to a second embodiment disclosed here;

FIG. 15 is a diagram for describing a PWM signal;

FIG. 16 is a flowchart for describing a process of estimating anelectrical angle according to a second method according to the secondembodiment disclosed here;

FIG. 17 is a diagram for describing an electrical angle estimation pulseshift process; and

FIG. 18 is a diagram for describing a single-shunt pulse shift process.

DETAILED DESCRIPTION

Hereinafter, embodiments disclosed here will be described with referenceto the drawings.

First Embodiment Structure of Motor Control Device

With reference to FIGS. 1 to 13, a description will be made of aconfiguration of a motor control device 100 according to a firstembodiment. In the following description, “ref” indicates a command, and“idn” indicates a time lapse and extension to a nonlinear region.

Configuration of Motor Control Device

As illustrated in FIG. 1, the motor control device 100 is configured tocontrol driving of a motor 200 provided with a permanent magnet (notillustrated) in response to a d-axis current command idref and a q-axiscurrent command iqref that are set on the basis of a torque commandTref. Hereinafter, details thereof will be described.

The motor 200 is provided with a plurality of permanent magnets. Themotor 200 is an interior permanent magnet (IPM) motor in which permanentmagnets are buried in a rotor (not illustrated) or a surface permanentmagnet (SPM) motor in which permanent magnets are disposed on a surfaceof a rotor.

The motor control device 100 includes a torque/current conversion unit1. The torque command Tref is input to the torque/current conversionunit 1 via a power management control unit 2. An angular velocityωs{circumflex over ( )} of the motor 200 estimated by an electricalangle estimation unit 12 which will be described later is input to thetorque/current conversion unit 1. The torque/current conversion unit 1calculates a d-axis current command idrefidn and a q-axis currentcommand iqrefidn on the basis of the torque command Tref and the angularvelocity ωs{circumflex over ( )} of the motor 200.

The motor control device 100 includes a current/voltage conversion unit4. The current/voltage conversion unit 4 converts the d-axis currentcommand idrefidn and the q-axis current command iqrefidn calculated bythe torque/current conversion unit 1 into a d-axis voltage command vdrefand a q-axis voltage command vqref, respectively.

Specifically, a d-axis current id and a q-axis current iq from a3-phase/2-phase conversion unit 13 are input to the current/voltageconversion unit 4. The current/voltage conversion unit 4 integrates adifference between the d-axis current command idref and the d-axiscurrent id and a difference between the q-axis current command iqref andthe q-axis current iq. A difference integral value of the d-axis currentcommand idref and the d-axis current id and a difference integral valueof the q-axis current command iqref and the q-axis current iq are addedin a state of being respectively multiplied by gains (ki and kp).

The motor control device 100 includes a limiting unit 5. The limitingunit 5 is configured to limit increases of the d-axis voltage commandvdref and the q-axis voltage command vqref output from thecurrent/voltage conversion unit 4. For example, in a case where thed-axis voltage command vdref (q-axis voltage command vqref) is equal toor less than a predetermined threshold value, the d-axis voltage commandvdref (q-axis voltage command vqref) is output to have an original valuefrom the limiting unit 5. On the other hand, in a case where the d-axisvoltage command vdref (q-axis voltage command vqref) is more than alimiter vdlim (vqlim), the d-axis voltage command vdref (q-axis voltagecommand vqref) is converted into a value (any constant value) of thelimiter vdlim (vqlim) and is output.

The motor control device 100 includes a 2-phase/3-phase conversion unit6. The 2-phase/3-phase conversion unit 6 is configured to subject thed-axis voltage command vdref (q-axis voltage command vqref) output fromthe limiting unit 5 to inverse Park transform and inverse Clarketransform, and thus to output voltages vu, vv, and vw corresponding to3-phase voltage values.

The motor control device 100 includes a modulation unit 7. Themodulation unit 7 performs envelope center shift modulation on thevoltages vu, vv, and vw that are input from the 2-phase/3-phaseconversion unit 6. Specifically, the modulation unit 7 compares valuesof the voltages vu, vv, and vw with each other, and uses ½ of anintermediate value of the voltages vu, vv, and vw as a correction value.The modulation unit 7 is configured to subtract the correction valuefrom the voltages vu, vv, and vw and to output subtracted values.

The motor control device 100 includes a PWM output unit 8. The PWMoutput unit 8 outputs PWM signals pwmu, pwmv, and pwmw for driving aplurality of bridge-connected switching elements (not illustrated)included in a drive unit 9 on the basis of signals (signals obtained bysubtracting the correction value from the voltages vu, vv, and vw)output from the modulation unit 7.

The motor control device 100 includes the drive unit 9. The drive unit 9applies the 3-phase voltages vu, vv, and vw to the motor 200 by turningon and off a plurality of switching elements 9 a (refer to FIG. 2) onthe basis of the PWM signals pwmu, pwmv, and pwmw. Consequently, themotor 200 is rotated at a speed corresponding to cycles of the appliedvoltages vu, vv, and vw.

The motor control device 100 includes a current limiting unit 10. Thecurrent limiting unit 10 is configured to limit a current used tocontrol (vector control) the motor 200. In other words, the currentlimiting unit 10 is configured to limit a current such that a currentlarger than current limitations (Iam and Iame) does not flow in vectorcontrol for the motor 200.

The motor control device 100 includes a delay compensation unit 11. Thedelay compensation unit 11 is configured to compensate for a rotationdelay of the motor 200. Generally, rotation of the motor 200 is delayeddue to a plurality of factors such as delays of a calculation process ofsoftware or a response of the motor 200. The delay compensation unit 11inputs a delay angle (θc) to the 2-phase/3-phase conversion unit 6 onthe basis of a delay time obtained by taking into consideration theplurality of factors and the angular velocity ωs{circumflex over ( )}estimated by the electrical angle estimation unit 12. A detailedconfiguration of the electrical angle estimation unit 12 will bedescribed later.

The delay compensation unit 11 is configured not to perform delaycompensation on a 3-phase/2-phase conversion unit 13 which will bedescribed later, and to perform delay compensation on the2-phase/3-phase conversion unit 6. In other words, the delaycompensation is performed on only the 2-phase/3-phase conversion unit 6,and is not performed on the 3-phase/2-phase conversion unit 13 to whicha current including the influence of weak magnetic flux control isinput.

The motor control device 100 includes the 3-phase/2-phase conversionunit 13. The 3-phase/2-phase conversion unit 13 subjects excitationcurrents Iu, Iv, and Iw with the respective phases of the motor 200 toClarke transform and Park transform, and thus calculates the q-axiscurrent iq and the d-axis current id.

As illustrated in FIG. 2, the excitation currents Iu, Iv, and Iw withthe respective phases of the motor 200 are detected separately for eachphase. In other words, the excitation currents Iu, Iv, and Iw with therespective phases are detected according to a three-shunt method.Specifically, a shunt resistor 20 is provided for each phase on adownstream side of an H bridge circuit including the plurality ofswitching elements 9 a. The excitation currents Iu, Iv, and Iw aredetected by the three shunt resistors 20.

The motor control device 100 includes a noninterference control unit 14.The noninterference control unit 14 performs predetermined calculation(calculation regarding interference between iq and id) on the angularvelocity ωs{circumflex over ( )} that is input from the electrical angleestimation unit 12 and the q-axis current iq and the d-axis current idthat are output from the 3-phase/2-phase conversion unit 13, and outputscorrection values vd1 and vq1 to the limiting unit 5.

The motor control device 100 includes a determination unit 15 thatdetermines (identifies) a d-axis inductance Ld, a q-axis inductance Lq,an armature resistance Ra, an armature interlinkage flux vector ϕa(torque constant Kt) that are parameters for controlling driving of themotor 200.

The motor control device 100 includes a nonlinearization processing unit16 that extends the armature interlinkage flux vector ϕa, the d-axisinductance Ld, and the q-axis inductance Lq determined by thedetermination unit 15 to a nonlinear region in which a magnetic fluxchange is nonlinear. The torque/current conversion unit 1 is configuredto calculate the d-axis current command idrefidn and the q-axis currentcommand iqrefidn on the basis of the armature interlinkage flux vectorϕa, the d-axis inductance Ld, and the q-axis inductance Lq extended tothe nonlinear region by the nonlinearization processing unit 16. Detailsof extension to the nonlinear region will be described later.

With reference to FIG. 3, a linear region and the nonlinear region willbe described. As illustrated in FIG. 3, torque (longitudinal axis)increases as a q-axis current (transverse axis) increases. Here, in acase where the q-axis current is smaller than iq_(sat), the torqueincreases substantially linearly (substantially straight line shape) asthe q-axis current increases. On the other hand, in a case where theq-axis current is equal to or larger than iq_(sat), the torque increasesnonlinearly as the q-axis current increases. Specifically, an increaseamount of the torque is gradually reduced as the q-axis currentincreases. In other words, as the q-axis current increases, the magneticflux change increases linearly and then increases nonlinearly. In thepresent specification, the region where the q-axis current is smallerthan iq_(sat) will be referred to as a linear region, and the regionwhere the q-axis current is equal to or larger than iq_(sat) will bereferred to as a nonlinear region. FIG. 3 illustrates a relationshipbetween the q-axis current and the torque, and a relationship between ad-axis current and torque is the same as in FIG. 3.

Detailed Configuration of Electrical Angle Estimation Unit

Next, a description will be made of a detailed configuration of theelectrical angle estimation unit 12.

Here, in the first embodiment, as shown in the following Table 1, theelectrical angle estimation unit 12 is configured to estimate anelectrical angle of the motor 200 according to at least one of a firstmethod, a second method, and a third method on the basis of an angularvelocity ω{circumflex over ( )} of the motor 200, a modulation rate of apwm signal, and whether a magnetic flux change is included in the linearregion or the nonlinear region. The first method is a method ofestimating an electrical angle (θvd{circumflex over ( )}) of the motor200 on the basis that a leakage current in the q axis becomes zero byapplying a voltage to the d axis. The second method is a method ofestimating an electrical angle (θ0{circumflex over ( )}, θ01{circumflexover ( )}, θ0e{circumflex over ( )}, and θ01e{circumflex over ( )}) ofthe motor 200 on the basis that at least one of a phase currentdifference and a line current difference caused by an induced voltagegenerated due to rotation of the motor 200 is zero. The third method isa method of estimating an electrical angle (θo{circumflex over ( )}) onthe basis of a voltage equation. An electrical angle (Δθp{circumflexover ( )}) corresponding to an initial position is estimated in a regionin which an angular velocity of the motor 200 is substantially 0.Hereinafter, details thereof will be described.

TABLE 1 Angular Overmodulation Step-out Step-out velocity Around LowIntermediate High Nonlinear (low (high (ω{circumflex over ( )}) zerovelocity velocity velocity region velocity) velocity) θ0{circumflex over( )} ◯ ◯ (◯) (◯) ◯ θ0e{circumflex over ( )} ◯ ◯ ◯ ◯ (◯) θ01{circumflexover ( )} ◯ ◯ ◯ θ01e{circumflex over ( )} ◯ Δθp{circumflex over ( )} ◯ ◯θvd{circumflex over ( )} ◯ ◯ ◯ ◯ Θo{circumflex over ( )} ◯ ◯

Initial Position Estimation

In initial position estimation, voltages are applied to the permanentmagnets, and ripples of currents when the voltages are applied areintegrated. An initial position (Δθp{circumflex over ( )}) of anelectrical angle is estimated on the basis of a polarity of the integralvalue (Σθpd{circumflex over ( )} and Σθpq{circumflex over ( )} in thefollowing table 2). Initial positions of a salient-pole machine and anon-salient-pole machine may be determined on the basis ofΣθpd{circumflex over ( )} and Σθpq{circumflex over ( )}. The initialposition estimation is performed only once when an angular velocity ofthe motor 200 is substantially 0. In addition, Δθp{circumflex over ( )}is set as an initial value in the first method (θvd{circumflex over( )}) which will be described later.

TABLE 2 Polarity of Σθpd{circumflex over ( )} Polarity ofΣθpd{circumflex over ( )} Δθp{circumflex over ( )} + +  0 to −90 deg + −0 to 90 deg − + −90 to −180 deg − − 90 to 180 deg

First Method

In the first method, a voltage is applied to the d axis, and the voltageapplied to the d axis is adjusted such that a leakage current that leaksin the q axis is 0. Consequently, the electrical angle (θvd{circumflexover ( )}) can be indirectly estimated.

In the first method, the electrical angle estimation unit 12 isconfigured to reduce a sampling interval for estimating an electricalangle according to the first method in a case where a change rate(Δiqref) of the q-axis current is high more than in a case where thechange rate of the q-axis current is low. Specifically, as illustratedin FIG. 4, the change rate (Δiqref) of the q-axis current increases at alow speed and a high load (when ωi is large). In this case, a samplinginterval (Δt) is reduced, and a width of the pwm signal is also reduced,according to the magnitude of the change rate (Δiqref) of the q-axiscurrent. Consequently, it is possible to reduce an error in estimationof the electrical angle (θvd{circumflex over ( )}). It is possible toreduce a switching loss.

In the first method, the electrical angle estimation unit 12 isconfigured to correct the electrical angle (θvd{circumflex over ( )})that is estimated when magnetic flux is saturated, on the basis of thefollowing Equation 7.θvd{circumflex over ( )}=θvd{circumflex over ( )}×SV0/SV1SV0=ω{circumflex over ( )}×Kt{circumflex over ( )}idn0+(Ld{circumflexover ( )}idn0−Lq{circumflex over ( )}idn0)×(ω{circumflex over( )}×idrefn−piqrefn)SV1=ω{circumflex over ( )}×Kt{circumflex over ( )}idn+(Ld{circumflexover ( )}idn−Lq{circumflex over ( )}idn)×(ω{circumflex over( )}×idrefn−piqrefn)  (Equation 7)

Here, ω indicates an angular velocity, Kt indicates acounter-electromotive force constant, Ld indicates d-axis inductance, Lqindicates q-axis inductance, idrefn indicates a d-axis current commandvalue, and iqrefn indicates a q-axis current command value. Thesubscript ind indicates the present value, and the subscript ind0indicates a value in a region in which magnetic flux of the motor is notsaturated. In addition, p indicates time differentiation.

Here, in a case where a load of the motor 200 increases, and thus acurrent amount increases, a phenomenon in which magnetic flux issaturated occurs. Consequently, the saliency of local inductancedecreases nonlinearly, and thus the sensitivity of magnetic poleposition detection using the saliency in a high load regiondeteriorates. Therefore, as described above, the electrical angle(θvd{circumflex over ( )}) estimated when magnetic flux is saturated iscorrected.

Here, in the first embodiment, in the first method, in a case where adifference between the q-axis inductance Lq and the d-axis inductance Ldis less than a predetermined threshold value, the difference between theq-axis inductance Lq and the d-axis inductance Ld is increased accordingto at least one of an increase of the q-axis inductance Lq and areduction of the d-axis inductance Ld. Here, the first method is used ina case where an angular velocity of the motor 200 is low (in a case of alow velocity), but, in a case where a salient-pole difference(difference between Lq and Ld) is relatively small, it is difficult toestimate the electrical angle θvd{circumflex over ( )}. Therefore, asdescribed above, the difference Lq and Ld is increased.

There are many control restrictions such as a torque reduction orinterferences, and thus the d axis is adjusted. The weak magnetic fluxreduces the torque of the motor 200 and also causes demagnetization. Inthe motor 200 with relatively small saliency, respective magneticsaturation points of the d axis and the q axis are close to each other.The motor 200 is brought into a strong magnetic flux state, and thus Ldis reduced in a magnetic saturation region. Consequently, a salient-poledifference (difference between Lq and Ld) is increased. As a result, itis possible to easily estimate the electrical angle θvd{circumflex over( )}. The motor 200 is brought into a strong magnetic flux state, andthus the torque of the motor 200 increases in a low speed region. Inother words, there is an advantage in that the torque for activating themotor 200 increases. In intermediate speed and high speed regions, theprocess (reducing Ld) is not performed, and the process does notinfluence performance of the motor 200 in the intermediate speed andhigh speed regions.

The inductance L of a coil is represented by the following Equation 8.L=μ×N ² ×S/l  (Equation 8)

Here, μ indicates permeability, N indicates the number of turns of thecoil, S indicates a sectional area, and l indicates a coil length.Magnetic saturation occurs in the strong magnetic flux state (a state inwhich a current increases in a magnetic flux direction of a magnet).Consequently, the permeability μ is reduced. As a result, L is reduced.Assuming that Ld is reduced, and Lq does not change, a salient-poledifference (actually, an inverse salient-pole difference) increases. Themotor 200 has an inverse salient-pole difference in which Lq is largerthan Ld (Lq>Ld).

Specifically, as illustrated in FIG. 5, the following process isperformed. First, in step S1, the determination unit 15 determines(identifies parameters) Lq and Ld.

Next, in step S2, it is determined whether or not a difference betweenLq and Ld is more than 0 and is equal to or less than a predeterminedthreshold value (kΔθ). In a case of yes in step S2, in step S3, anlinjdc flag is turned on. Consequently, as illustrated in FIG. 6, a DCsaturation voltage vdsat is applied in a direction of a strong magneticflux with respect to the voltage ΔVd (in the first method, a voltageapplied to the d axis) such that the motor 200 is brought into a strongmagnetic flux state. As a result, a saturation current (linjdc) in the daxis flows.

Next, in step S4, it is determined whether or not the difference betweenLq and Ld is more than the predetermined threshold value (kΔθ). In acase of yes in step S4, the flow proceeds to step S5, and the electricalangle θvd{circumflex over ( )} is estimated.

In a case of no in step S2, the flow proceeds to step S6. In step S6, itis determined whether or not the difference between Lq and Ld is morethan the predetermined threshold value (kΔθ). In a case of yes in stepS6, the flow proceeds to step S5, and the electrical angleθvd{circumflex over ( )} is estimated. In a case of no in step S6 (thatis, in a case where the difference between Lq and Ld is less than 0),the flow proceeds to step S7. In other words, the electrical angleθvd{circumflex over ( )} is not estimated (the electrical angleθvd{circumflex over ( )} cannot be estimated).

In a case of no in step S4, the flow proceeds to step S8, and the linjdcflag is turned off. Thereafter, the flow proceeds to step S7.

Second Method

The second method includes a method (θ0{circumflex over ( )}) based on aphase current difference, a method (θ01{circumflex over ( )}) based on aline current difference, a method (θ0e{circumflex over ( )}) based on acurrent value in a stationary coordinate system, and a method(θ01e{circumflex over ( )}) based on a current difference when twophases are short-circuited to each other.

In the method based on a phase current difference, the electrical angleθ0{circumflex over ( )} is estimated on the basis of the followingEquation 9.E×sin θ+Ldi*/dt+Ri*=0  (Equation 9)

Here, E indicates a phase induced voltage, L indicates reluctance, iindicates a current, Ri indicates resistance, and * indicates the d axisor the q axis. Since Ri=0 around a zero-cross (a phase currentdifference is 0), the following Equation 10 may be obtained.E×sin θ≈−Ldi*/dt  (Equation 10)

According to the above equation, the phase induced voltage E may berepresented by a temporal change of a phase current in a zero vectorperiod. Consequently, it is possible to estimate the electrical angleθ0{circumflex over ( )}.

In the method based on a line current difference, the electrical angleθ01{circumflex over ( )} is estimated on the basis of the followingEquation 11.Ev×sin(θ−2π/3)−Ew sin(θ+2π/3)+L(div/dt−diw/dt)+R(iv−iw)=0  (Equation 11)

Here, Ev and Ew indicates line induced voltages, L indicates reluctance,iv and iw indicate currents, and R indicates resistance. Since R=0around a zero-cross (a line current difference is 0), the followingEquation 12 may be obtained.Evw×sin θ≈−Ldivw/dt  (Equation 12)

According to the above equation, the line induced voltage Evw may berepresented by a temporal change of a line current in a zero vectorperiod. Consequently, it is possible to estimate the electrical angleθ01{circumflex over ( )}.

In the method based on current value in the stationary coordinatesystem, the electrical angle (θ0e{circumflex over ( )}) is estimated onthe basis of the following Equation 13.θ0e{circumflex over ( )}≈tan⁻¹(piβ/piα)−π/2  (Equation 13)

Here, iα indicates a current of the α axis in the stationary coordinatesystem, and iβ indicates a current of the β axis in the stationarycoordinate system. In addition, p indicates time differentiation. Inother words, θ0e{circumflex over ( )} is approximately obtained on thebasis of a ratio between temporal change rates of a β-axis current andan α-axis current in the stationary coordinate system. The electricalangle θ0e{circumflex over ( )} is a backup when the electrical angleθ0{circumflex over ( )} cannot be detected. Consequently, it is possibleto improve stability of detection of a zero-cross. Either the detectionof the electrical angle θ0e{circumflex over ( )} or the detection of theelectrical angle θ0{circumflex over ( )} may be performed.

Here, in the first embodiment, in the method based on a current value inthe stationary coordinate system, an electrical angle of the motor 200is configured to be estimated on the basis of current values in twophases in which absolute values of current values or absolute values ofchange amounts of currents are greater among the three phases.Specifically, for example, in a case where absolute values of currentvalues in the U phase and the V phase or absolute values of changeamounts of currents thereof are greater (than that in the W phase), piαand piβ are obtained on the basis of the following Equation 14.piβ=(1/√2)×(piu+2×piv)piα=√(3/2)×piu  (Equation 14)

In a case where absolute values of current values in the V phase and theW phase or absolute values of change amounts of currents thereof aregreater (than that in the U phase), piα and piβ are obtained on thebasis of the following Equation 15.piβ=(1/√2)×(piv−piw)piα=√(3/2)×(−piv−piw)  (Equation 15)

In a case where absolute values of current values in the W phase and theU phase or absolute values of change amounts of currents thereof aregreater (than that in the V phase), piα and piβ are obtained on thebasis of the following Equation 16.piβ=(1/√2)×(−piu−2×piw)piα=√(3/2)×piu  (Equation 16)

The electrical angle estimation unit 12 is configured to reduce noise onthe basis of a d-axis current value and a q-axis current value in themethod based on a current value in the stationary coordinate system.Specifically, noise is reduced on the basis of the following Equation17.θ0e=tan⁻¹(piβ/piα)−π/2−tan⁻¹(piq/pid)  (Equation 17)

Here, iq and id respectively indicate a q-axis current and a d-axiscurrent.

In the method based on a current difference when two phases areshort-circuited to each other, the electrical angle (θ01e{circumflexover ( )}) is estimated on the basis of the following Equation 18.if iv=iwcos θ01e{circumflex over ( )}/sin θ01e{circumflex over( )}=(−(ω×(Ld−Lq)×(3×iu/2)))/(−Ld×p(3×iu/2) −(−R×(3×iu/2)))if iu=ivcos θ01e{circumflex over ( )}/sin θ01e{circumflex over( )}=(Ld×p(3×√{square root over (3)}×iu/2)−(−R×(3×√{square root over(3)}×iu/2)+ω×(Ld−Lq)××iu/2)))/(−Ld×p(3×iu/2)−(−ω×(Ld−Lq)×(3×√{squareroot over (3)}×iu/2)

×(3×iu/2)))if iw=iucos θ01e{circumflex over ( )}/sin θ01e{circumflex over ( )}=(Ld×p(−3×√{square root over (3)}×iu/2)−(−R×(−3×√{square root over(3)}×iu/2)+ω×(Ld−Lq) ×iu/2)))/(−Ld×p(3×iu/2)−(−ω×(Ld−Lq)×(−3×√{squareroot over (3)}×iu/2)

×(3×iu/2)))  (Equation 18)

Here, iu, iv, and iw respectively indicate a u-phase current, a v-phasecurrent, and a w-phase current. In addition, R indicates resistance. Theelectrical angle θ01e{circumflex over ( )} is a backup when theelectrical angle θ01{circumflex over ( )} cannot be detected.Consequently, it is possible to improve stability of detection of azero-cross. Either the detection of the electrical angle θ01e{circumflexover ( )} or the detection of the electrical angle θ01{circumflex over( )} may be performed.

The above Equation 18 may be represented by the following Equation 19according to a boundary condition when two phases are short-circuited toeach other.if iv=iwcos θ01e{circumflex over ( )}/sin θ01e{circumflex over( )}=(−(ω×(Ld−Lq)×(iu)))/(−Ld×p(iu)−(−R×(iu)))if iu=ivcos θ01e{circumflex over ( )}/sin θ01e{circumflex over( )}=(Ld×p)(√{square root over (3)}×iu)−(−R×(√{square root over(3)}×iu)+ω×(Ld−Lq)×(iu)))/(−Ld ×p(iu)−(−ω×(Ld−Lq)×(√{square root over(3)}×iu)−R×(iu)))if iw=iucos θ01e{circumflex over ( )}/sin θ01e{circumflex over( )}=(Ld×p(√{square root over (3)}×iu)−(−R×(−√{square root over(3)}×iu)+ω×(Ld−Lq)×(iu)))/(−Ld ×p)(iu)−(−ω×(Ld−Lq)×(−√{square root over(3)}×iu)−R×(iu)))  (Equation 19)

In a case where a current change rate is low (that is, in a case wherep(iu) is about 0), an electrical angle can be estimated by using only ω(estimated value) and equipment constants as shown in the followingEquation 20.if iv=iwcosθ01e{circumflex over ( )}/sin θ01e{circumflex over( )}=(−(ω×(Ld−Lq)))/(−(−R))if iu=ivcos θ01e{circumflex over ( )}/sin θ01e{circumflex over( )}=(−(−R×(√{square root over (3)})+ω×(Ld−Lq)))/(−(−ω×(Ld−Lq)×(√{squareroot over (3)})−R))if iw=iucos θ01e{circumflex over ( )}/sin θ01e{circumflex over( )}=(−(−R×(−√{square root over(3)})+ω×(Ld−Lq)))/(−(−ω×(Ld−Lq)×(−√{square root over (3)})−R))(Equation20)

In the first embodiment, in the second method, the electrical angleestimation unit 12 is configured to estimate an electrical angle atwhich a phase current difference is zero and an electrical angle atwhich a line current difference is zero on the basis of the followingEquations 21 and 22 when the phase current difference is not zero andwhen the line current difference is not zero.θ0c{circumflex over ( )}=θ0t{circumflex over ( )}−Δi*×ω{circumflex over( )}/ΔΔ1*  (Equation 21)θ10c{circumflex over ( )}=θ01t{circumflex over ( )}−Δi*×ω{circumflexover ( )}/ΔΔ1*  (Equation 22)

Here, θ0t{circumflex over ( )} and θ01t{circumflex over ( )}respectively indicate target values (an electrical angle of every 60degrees from 0 degrees, and an electrical angle of every 60 degrees from30 degrees), Δi* indicates a current difference, and ΔΔ1* indicates achange rate of Δi*. In addition, * indicates the d axis or the q axis.

Third Method

In the third method, the electrical angle (θo{circumflex over ( )}) isestimated on the basis of the following Equation 23. The third method isreferred to as an adaptive observer model.θ0{circumflex over ( )}=tan⁻¹(λβ/λα)  (Equation 23)

Here, λ indicates a field magnetic flux linkage of an armature coil, andthe subscripts α and β indicate the stationary coordinate system (the αaxis and the β axis).

Here, in the first embodiment, as shown in the above Table 1, theelectrical angle estimation unit 12 estimates an electrical angleaccording to the first method (θvd{circumflex over ( )}) and the secondmethod (θ0{circumflex over ( )}, θ01{circumflex over ( )},θ0e{circumflex over ( )}, and θ01e{circumflex over ( )}) in a case wherean angular velocity of the motor 200 is low (low velocity). In a verylow region of the low speed, θ0e{circumflex over ( )} is not estimated.In a case where an angular velocity of the motor 200 is high (anintermediate velocity or a high velocity), an electrical angle isconfigured to be estimated according to the second method (θ0{circumflexover ( )}, θ01{circumflex over ( )}, and θ0e{circumflex over ( )}) andthe third method (θo{circumflex over ( )}). In a case where an angularvelocity of the motor 200 is intermediate, switching (combinedcalculation) between the first method (θvd{circumflex over ( )}) and thethird method (θo{circumflex over ( )}) is performed. In a case ofovermodulation in which a modulation rate of a pwm signal is 1 orgreater, and in a nonlinear region in which a magnetic flux change isnonlinear, the electrical angle estimation unit 12 is configured toestimate an electrical angle according to the second method(θ0{circumflex over ( )} and θ0e{circumflex over ( )}).

Specifically, estimation of the electrical angle θ0{circumflex over ( )}is performed every 60 degrees from 0 degrees. Specifically, in a casewhere the motor 200 is rotated clockwise, the electrical angleθ0{circumflex over ( )} is estimated at 0 degrees, 60 degrees, 120degrees, 180 degrees, 240 degrees, and 300 degrees. In a case where themotor 200 is rotated counterclockwise, the electrical angleθ0{circumflex over ( )} is estimated at 0 degrees, −60 degrees, −120degrees, −180 degrees, −240 degrees, and −300 degrees.

Estimation of the electrical angle θ01{circumflex over ( )} is performedevery 60 degrees from 30 degrees. Specifically, in a case where themotor 200 is rotated clockwise, the electrical angle θ01{circumflex over( )} is estimated at 30 degrees, 90 degrees, 150 degrees, 210 degrees,270 degrees, and 330 degrees. In a case where the motor 200 is rotatedcounterclockwise, the electrical angle θ01{circumflex over ( )} isestimated at −30 degrees, −90 degrees, −150 degrees, −210 degrees, −270degrees, and −330 degrees.

In the first embodiment, in the second method in a nonlinear region inwhich a magnetic flux change is nonlinear, the electrical angleestimation unit 12 is configured to estimate a plurality ofpredetermined electrical angles (only θ0e{circumflex over ( )} or bothof θ0{circumflex over ( )} and θ0e{circumflex over ( )}) and also toestimate an electrical angle between the predetermined electrical anglesthrough interpolation calculation. An electrical angle θ0{circumflexover ( )}t between predetermined electrical angles (electrical anglesevery 60 degrees) is estimated through interpolation calculation on thebasis of the following Equation 24.θ0{circumflex over ( )}t=(θ0*{circumflex over ( )}t1+(θT{circumflex over( )}t))θT{circumflex over ( )}t=(ω0{circumflex over ( )}t1+kj×dω0{circumflexover ( )}t1×(t−t1))×(t−t1)  (Equation 24)

Here, θ0*{circumflex over ( )}t1 indicates a certain electrical angle(for example, 0 degrees), t1 indicates a time of entering a certain zone(for example, between 0 degrees to 60 degrees), dω indicatesacceleration of an electrical angle, ω0{circumflex over ( )} indicatesan estimated value of an angular velocity of the motor 200, and kjindicates a map (refer to FIG. 7) of dω. The electrical angleθ0{circumflex over ( )}t is estimated through interpolation calculationas illustrated in FIG. 8 on the basis of the above equation.

In a case of overmodulation or in a nonlinear region, in a case where avoltage command in each phase is relatively large, and there is notiming at which a zero-cross is detectable (in a case where a zero-crossof a current change rate cannot be detected), a zero vector (active zerovector) is forced to be applied. Specifically, the active zero vector isapplied around the electrical angle θ0{circumflex over ( )} of every 60degrees from 0 degrees. Consequently, the electrical angleθ0e{circumflex over ( )} is estimated.

In a case where the responsiveness of a servomotor is required, it isnecessary to perform estimation of an electrical angle from a relativelylow velocity (the intermediate velocity in Table 1) to a region in whichan induced voltage is generated, the electrical angle θo{circumflex over( )} is estimated in addition to the electrical angles (θ0{circumflexover ( )}, θ01{circumflex over ( )}, θ0e{circumflex over ( )}, andθ01e{circumflex over ( )}) based on a zero-cross. On the other hand, ina case where the responsiveness of a servomotor is not required, onlythe electrical angles (θ0{circumflex over ( )}, θ01{circumflex over( )}, θ0e{circumflex over ( )}, and θ01e{circumflex over ( )}) based ona zero-cross are estimated. Consequently, it is possible to reduce aload on the motor control device 100.

Here, in the first embodiment, in a case where an electrical angle ofthe motor is estimated according to at least one of the first method andthe third method, with respect to an electrical angle estimatedaccording to the second method, the electrical angle estimation unit 12is configured to replace (subjected to an override) the electrical angleestimated according to at least one of the first method and the thirdmethod with the electrical angle estimated according to the secondmethod. Specifically, as shown in Table 1, in a region in which anangular velocity is low, when the electrical angle θvd{circumflex over( )} is estimated according to the first method, in a predeterminedelectrical angle (an electrical angle of every 60 degrees from 0degrees, or an electrical angle of every 60 degrees from 30 degrees),the electrical angle θvd{circumflex over ( )} estimated according to thefirst method is replaced (subjected to an override) with an electricalangle (any one of θ0{circumflex over ( )}, θ01{circumflex over ( )},θ0e{circumflex over ( )}, and θ01e{circumflex over ( )}) estimatedaccording to the second method. In a region in which an angular velocityis intermediate, when the electrical angle θvd{circumflex over ( )} isestimated according to the first method or the electrical angleθo{circumflex over ( )} is estimated according to the third method, in apredetermined electrical angle, the electrical angle θvd{circumflex over( )} estimated according to the first method or the electrical angleθo{circumflex over ( )} estimated according to the third method isreplaced with an electrical angle (any one of θ0{circumflex over ( )},θ01{circumflex over ( )}, and θ0e{circumflex over ( )}) estimatedaccording to the second method. In a region in which an angular velocityis high, when the electrical angle θo{circumflex over ( )} is estimatedaccording to the third method, in a predetermined electrical angle, theelectrical angle θ0{circumflex over ( )} estimated according to thethird method is replaced with an electrical angle (any one ofθ0{circumflex over ( )}, θ01{circumflex over ( )}, and θ0e{circumflexover ( )}) estimated according to the second method.

As illustrated in FIG. 9, in the region in which an angular velocity isintermediate, switching between estimation of the electrical angleθvd{circumflex over ( )} according to the first method and theelectrical angle θo{circumflex over ( )} according to the third methodoccurs. In a case where an angular velocity (|ω{circumflex over ( )}|)is relatively low, the electrical angle θvd{circumflex over ( )} isestimated according to the first method, and, in a case where an angularvelocity is relatively high, the electrical angle θo{circumflex over( )} is estimated according to the third method. In a case where anangular velocity is substantially intermediate, combined calculation ofthe first method and the third method is performed.

The override is performed at a timing at which a phase currentdifference or a line current difference is zero. Specifically, a timingat which a phase current difference is zero (zero-cross) is every 60degrees from 0 degrees. A timing at which a line current difference iszero is every 60 degrees from 30 degrees.

In a case where the zero-cross cannot be detected for a while, forexample, the zero vector (active zero vector) is forced to be appliedaround an electrical angle of every 60 degrees from 0 degrees.Consequently, an electrical angle (θ0{circumflex over ( )},θ01{circumflex over ( )}, θ0e{circumflex over ( )}, and θ01e{circumflexover ( )}) is detected according to the second method.

In a case of overmodulation and in a nonlinear region, for example, thezero vector (active zero vector) is forced to be applied around anelectrical angle of every 60 degrees from 0 degrees. Consequently, anelectrical angle (θ0{circumflex over ( )} and θ0e{circumflex over ( )})is detected according to the second method.

An electrical angle estimated value includes an estimated value forelectrical angle estimation and an electrical angle estimated value forcontrol (speed control and position control). The estimated value forelectrical angle estimation is an estimated value (an immediate valueωs{circumflex over ( )}; refer to a thick solid line in FIG. 10) that isestimated according to the first to third methods. On the other hand, asillustrated in FIG. 10, since there is a case where an estimatedelectrical angle has a discrete value (a value rapidly changes) due toan override, the electrical angle estimated value for control issubjected to smoothing (refer to a thick dotted line in FIG. 10).Specifically, smoothing is performed on a value of the latest electricalangle before the override to be proportional to the angular velocity ω.An electrical angle for angular velocity estimation is not subjected tosmoothing. Consequently, it is possible to improve controllability whilemaintaining the accuracy of estimation of an electrical angle (angularvelocity).

As shown in Table 1, the override is performed by using the electricalangle θ0e{circumflex over ( )} in a region in which an angular velocityis relatively high. This is because, in a case where a modulation ratebecomes high, deviation from sinusoidal driving increases, and thus anerror increases in the method of estimating the electrical angleθ0{circumflex over ( )}. In the region in which an angular velocity isrelatively high, it is possible to estimate an electrical angle withhigh accuracy on the basis of only the electrical angle θ0e{circumflexover ( )} (refer to the following Equation 25).cos θ{circumflex over ( )}{circumflex over ( )}/sin θ{circumflex over( )}{circumflex over( )}=(Ld×piβ−(−R×iβ+ω×(Ld−Lq)×iα))/(−Ld×piα+(−ω×(Ld−Lq)×iβ−R×iα))  (Equation25)

In addition, “(O)” in Table 1 indicates that estimation based on theelectrical angle θ0{circumflex over ( )} is possible, and the estimationbased on the electrical angle θ0{circumflex over ( )} is not performedfor the above reason. Consequently, it is possible to reduce a load onthe motor control device 100 and also to improve the responsiveness ofestimation of an electrical angle. Since there is no boundary conditionin the electrical angle θ0e{circumflex over ( )} represented by theabove Equation 13, a zero-cross cannot be detected in a region in whichan angular velocity is relatively high, but an electrical angle can bedetected by using the electrical angle θ0e{circumflex over ( )}represented by the above Equation 13.

An angular velocity of a motor to which the method (θ0e{circumflex over( )}) based on a current value in the stationary coordinate system isapplied is higher than an angular velocity of a motor to which themethod (θ01e{circumflex over ( )}) based on a current difference whentwo phases are short-circuited to each other is applied. Specifically,the electrical angle θe{circumflex over ( )} is estimated on the basisof the following Equation 26.θe{circumflex over ( )}=kθ01e×θ01e{circumflex over( )}+kθ0e×θ0e{circumflex over ( )}  (Equation 26)

Here, kθ01e and kθ0e are coefficients having characteristics illustratedin FIG. 11. kθ01e is 1 in a region in which the angular velocity|ω{circumflex over ( )}| is relatively low, and is 0 in a region inwhich the angular velocity |ω{circumflex over ( )}| is relatively high.kθ01e decreases linearly from 1 to 0 in a region in which the angularvelocity |ω{circumflex over ( )}| is substantially intermediate. kθ0e is0 in a region in which the angular velocity |ω{circumflex over ( )}| isrelatively low, and is 1 in a region in which the angular velocity|ω{circumflex over ( )}| is relatively high. kθ0e increases linearlyfrom 0 to 1 in a region in which the angular velocity |ω{circumflex over( )}| is substantially intermediate. Consequently, it is possible toimprove the accuracy of estimation of an electrical angle.

In the second method, the electrical angle estimation unit 12 isconfigured to estimate an electrical angle by performing sampling fordetecting an electrical angle a plurality of times, and performingmovement averaging on results of the plurality of times of sampling. Forexample, as illustrated in FIG. 12, in estimation of the electricalangle θ0{circumflex over ( )} and the electrical angle θ01{circumflexover ( )}, a plurality of times of sampling is performed (for example,ten times every 5 degrees) in an electrical angle around a zero-cross. Azero-cross is detected on the basis of a change in a sign of adifferential movement average of a plurality of times of sampling.Similarly, for estimation of the electrical angle θ0e{circumflex over( )} and the electrical angle θ01e{circumflex over ( )}, a plurality oftimes of sampling is performed, and the electrical angle θ0e{circumflexover ( )} and the electrical angle θ01e{circumflex over ( )} areestimated on the basis of a movement average of sampling results. Thenumber of times of sampling is increased as the angular velocityω{circumflex over ( )} of the motor 200 becomes lower. For example, thenumber of times of sampling is exponentially increased as the angularvelocity ω{circumflex over ( )} of the motor 200 becomes lower.

The override is performed on a first half and a second half of a pwmsignal. On the other hand, the override may be performed for each cycle(every cycle or every two cycles) of the pwm signal. This is because, inthe second method (electrical angle estimation using a current ripple),in a case where an equipment constant La/Ra (electrical time constant)of the motor 200 is large, a zero-cross may not be detected.

In the first embodiment, in the second method, the electrical angleestimation unit 12 is configured to compensate for a delay of anelectrical angle estimated according to the second method on the basisof the equipment constant of the motor 200. Specifically, in a casewhere the angular velocity |ω{circumflex over ( )}| is relatively high,the influence of the equipment constant La/Ra (electrical time constant)of the motor 200 cannot be disregarded, and thus a phase of anelectrical angle estimated according to the second method is corrected.Specifically, as illustrated in FIG. 13, the correction is performed bysubtracting an electrical angle (deg) shown in the map in FIG. 13 fromthe electrical angle θ0*{circumflex over ( )} (θ0{circumflex over ( )}or θ01{circumflex over ( )}) estimated according to the second method.Similarly, the electrical angles θ0e{circumflex over ( )} andθ01e{circumflex over ( )} are also corrected as necessary.

In the first embodiment, the electrical angle estimation unit 12calculates the angular velocity ω{circumflex over ( )} by performingtime differentiation on an estimated electrical angle. For example, anangular velocity ωvd{circumflex over ( )} is calculated on the basis ofthe electrical angle θvd{circumflex over ( )} estimated according to thefirst method. An angular velocity ω0{circumflex over ( )} is calculatedon the basis of the electrical angles θ0{circumflex over ( )},θ01{circumflex over ( )}, θ0e{circumflex over ( )}, and θ01e{circumflexover ( )} estimated according to the second method. An angular velocityωo{circumflex over ( )} is calculated on the basis of the electricalangle θo{circumflex over ( )} estimated according to the third method.When the angular velocity ω0{circumflex over ( )} is estimated accordingto the second method, the angular velocity ωo{circumflex over ( )}estimated according to the third method is replaced (subjected to anoverride) with the angular velocity ω0{circumflex over ( )} estimatedaccording to the second method. The angular velocity ω{circumflex over( )} is calculated on the basis of time differentiation of the latestestimated electrical angle.

In the same manner as the estimation of an electrical angle, since thereis a case where an estimated angular velocity has a discrete value (avalue rapidly changes) due to an override on an angular velocity, anangular velocity estimated value for control is subjected to smoothing.An angular velocity for angular velocity estimation is not subjected tosmoothing.

In the first embodiment, as shown in Table 1, when the motor 200 stepsout, the electrical angle estimation unit 12 estimates an initialposition (Δθp{circumflex over ( )}) of the motor 200 on the basis thatvoltages are applied to the permanent magnets of the motor 200 in a casewhere the angular velocity ω{circumflex over ( )} of the motor 200 isaround zero. In a case where the angular velocity ω{circumflex over ( )}of the motor 200 is more than around zero, the electrical angleestimation unit 12 continuously estimates an electrical angle accordingto the first method (θvd{circumflex over ( )}) and the second method(only θ0{circumflex over ( )} or both of θ0{circumflex over ( )} andθ0e{circumflex over ( )}). In a case where step-out of the motor 200 isdetected a predetermined number of times or more within a predeterminedperiod, the electrical angle estimation unit 12 is configured to stopthe motor 200. In a case where deviation between an estimated electricalangle and a zero-cross timing is great, step-out resultantly occurs. Onthe other hand, in the first embodiment, since the override is performedat the zero-cross timing, the step-out does not occur logically.However, the step-out may occur at the time of a rapid change of theangular velocity ω{circumflex over ( )}. Therefore, the above-describedmeasure is performed.

Effects of First Embodiment

In the first embodiment, the following effects can be achieved.

In the first embodiment, as described above, in a case where anelectrical angle (θvd{circumflex over ( )} and θo{circumflex over ( )})of the motor 200 is estimated according to at least one of the firstmethod and the third method, with respect to an electrical angle(θ0{circumflex over ( )}, θ01{circumflex over ( )}, θ0e{circumflex over( )}, and θ01e{circumflex over ( )}) estimated according to the secondmethod, the electrical angle estimation unit 12 is configured to replacethe electrical angle (θvd{circumflex over ( )} and θo{circumflex over( )}) estimated according to at least one of the first method and thethird method with the electrical angle (θ0{circumflex over ( )},θ01{circumflex over ( )}, θ0e{circumflex over ( )}, and θ01e{circumflexover ( )}) estimated according to the second method. Here, in the secondmethod, an electrical angle (θ0{circumflex over ( )}, θ01{circumflexover ( )}, θ0e{circumflex over ( )}, and θ01e{circumflex over ( )}) canbe relatively accurately estimated by detecting a timing (zero-crosstiming) at which a phase current difference or a line current differenceis zero. Consequently, in a case where an electrical angle(θvd{circumflex over ( )} and θo{circumflex over ( )}) is successivelyestimated according to at least one of the first method and the thirdmethod, even though an error occurs in the estimated electrical angle(θvd{circumflex over ( )} and θo{circumflex over ( )}), the error can becorrected by using the electrical angle (θ0{circumflex over ( )},θ01{circumflex over ( )}, θ0e{circumflex over ( )}, and θ01e{circumflexover ( )}) estimated according to the second method at the zero-crosstiming. As a result, in a case where an electrical angle is successivelyestimated, it is possible to correct an error in an estimated electricalangle.

In the first embodiment, as described above, since the first method inwhich the accuracy of estimation of the electrical angle θvd{circumflexover ( )} is relatively high is used in a case where the angularvelocity ω{circumflex over ( )} of the motor 200 is low, and the thirdmethod in which the accuracy of estimation of the electrical angleθo{circumflex over ( )} is relatively high is used in a case where theangular velocity ω{circumflex over ( )} of the motor 200 is high, it ispossible to perform estimation of an electrical angle with high accuracyin both of the cases where the angular velocity ω{circumflex over ( )}of the motor 200 is low and high. As a result, it is possible to correctan error in an estimated electrical angle while performing estimation ofan electrical angle with high accuracy in both of the cases where theangular velocity ω{circumflex over ( )} of the motor 200 is low andhigh.

In the first method and the third method, in a case of overmodulation ofa pwm signal and in a nonlinear region, estimation of an electricalangle cannot be performed with high accuracy. Therefore, a zero-crosstiming is detected according to the second method, and thus anelectrical angle can be relatively accurately estimated even in the caseof overmodulation of a pwm signal and in the nonlinear region.

In the first embodiment, as described above, in the second method, anelectrical angle can be estimated at only a zero-cross timing (30degrees, 60 degrees, 90 degrees, and the like), and thus electricalangles at timings other than the zero-cross timing can be estimated byperforming interpolation calculation.

In the first embodiment, as described above, when a zero-cross timingcannot be detected according to the second method, an electrical anglemay be estimated on the basis of Equations 21 and 22.

In the first embodiment, as described above, in the second method, anelectrical angle (θ0{circumflex over ( )}, θ01{circumflex over ( )},θ0e{circumflex over ( )}, and θ01e{circumflex over ( )}) is estimated onthe basis of a current (a phase current and a line current), and thus aphase may be delayed with respect to a voltage. Therefore, a delay ofthe electrical angle (θ0{circumflex over ( )}, θ01{circumflex over ( )},θ0e{circumflex over ( )}, and θ01{circumflex over ( )}) (phase) iscompensated for, and thus it is possible to improve the accuracy ofestimation of the electrical angle (θ0{circumflex over ( )},θ01{circumflex over ( )}, θ0e{circumflex over ( )}, and θ01e{circumflexover ( )}).

In the first embodiment, as described above, even in a case where anelectrical angle cannot be appropriately estimated according to themethod (θ0{circumflex over ( )}) based on a phase current difference andthe method (θ01{circumflex over ( )}) based on a line currentdifference, an electrical angle can be estimated according to the method(θ0e{circumflex over ( )}) based on a current value in the stationarycoordinate system and the method (θ01e{circumflex over ( )}) based on acurrent difference when two phases are short-circuited to each other.

In the first embodiment, as described above, an electrical angle of themotor 200 is estimated on the basis of current values in two phases inwhich absolute values of the current values or absolute values of changeamounts of currents are greater, and thus it is possible to improvenoise resistance with respect to a current value and a change amount ofthe current value.

In the first embodiment, as described above, noise is reduced on thebasis of a d-axis current value and a q-axis current value, and thus itis possible to increase the accuracy of estimation of an electricalangle (θ0e{circumflex over ( )}).

In the first embodiment, as described above, a method (θ0e{circumflexover ( )} and θ01e{circumflex over ( )}) for increasing the accuracy ofestimation of an electrical angle is selected depending on an angularvelocity of the motor 200, and thus it is possible to further increasethe accuracy of estimation of an electrical angle.

In the first embodiment, as described above, even in a case where noiseis included in a current (a phase current or a line current), it ispossible to reduce the influence of the noise.

In the first embodiment, as described above, even in a case where achange rate of a q-axis current is high, an electrical angle(θvd{circumflex over ( )}) can be appropriately estimated according tothe first method.

In the first embodiment, as described above, even in a case wheremagnetic flux is saturated, an electrical angle (θvd{circumflex over( )}) can be appropriately estimated.

In the first embodiment, as described above, it is possible to suppressan estimated electrical angle (θ0{circumflex over ( )} andθ01{circumflex over ( )}) from rapidly changing.

In the first embodiment, as described above, in a case where the angularvelocity ω{circumflex over ( )} of the motor 200 is around zero, aninitial position of the motor 200 is estimated, and thus it is possibleto estimate the subsequent electrical angle with high accuracy. In acase where step-out of the motor 200 is detected a predetermined numberof times or more within a predetermined period, the motor 200 isstopped, and thus it is possible to prevent driving of the motor 200from being continued in a state in which the motor 200 steps out.

In the first embodiment, as described above, the angular velocityω0{circumflex over ( )} is substituted on the basis of the electricalangles θ0{circumflex over ( )}, θ01{circumflex over ( )}, θ0e{circumflexover ( )}, and θ01e{circumflex over ( )} estimated according to thesecond method in which an electrical angle can be relatively accuratelyestimated, and thus it is possible to improve the accuracy of estimationof an electrical angle and also to improve the robustness of theestimation of an electrical angle.

In the first embodiment, as described above, even in a case where it isdifficult to estimate the electrical angle θvd{circumflex over ( )}according to the first embodiment due to a relatively small differencebetween the q-axis inductance Lq and the d-axis inductance Ld, it ispossible to easily estimate the electrical angle θvd{circumflex over( )} by increasing a difference between the q-axis inductance Lq and thed-axis inductance Ld.

Second Embodiment

With reference to FIGS. 14 to 18, a description will be made of aconfiguration of the motor control device 100 according to a secondembodiment. In the second embodiment, a current is detected(single-shunt method) by a single shunt resistor 20 unlike in the firstembodiment in which a current is detected by the three shunt resistors20.

Specifically, as illustrated in FIG. 14, the shunt resistor 20 (currentdetection portion) is provided in a drive unit 109 of the motor controldevice 100. For example, the shunt resistor 20 is configured to detect acurrent flowing through a DC side (positive side: P) of 3-phase AC forsupplying power from a power supply unit 210 to the motor 200. The shuntresistor 20 may be configured to detect a current flowing through a GNDside. Phase currents on the downstream side of the switching elements 9a are indicated by iuL, ivL, and iwL.

FIG. 15 illustrates an example of one cycle of a PWM signal pwm*. Alength of one cycle is referred to as a period T, a start point of thecycle is referred to as a start point t0, and a period in which avoltage is applied from the power supply unit 210 to only the U phase isreferred to as T100. Applying a voltage from the power supply unit 210will be referred to as “voltage application”, and not applying a voltagewill be referred to as “voltage nonapplication”. A period of U phasevoltage application, V phase voltage application, and W phase voltagenonapplication is referred to as T110, a period of U phase voltageapplication, V phase voltage application, and W phase voltageapplication is referred to as T111, and a period of U phase voltagenonapplication, V phase voltage nonapplication, and W phase voltagenonapplication is referred to as T000. A “zero vector” is assumed toindicate a state in the period T000.

As illustrated in FIG. 15, as an example, in the period T100, a detectedcurrent ir, the phase currents iu, iv, and iw, and the phase currentsiuL, ivL, and iwL have a relationship represented by the followingEquation 27. The currents have a relationship represented by thefollowing Equation 28 in the period T110. At the start point t0, acurrent iut0 (iu at the start point t0), ivt0 (iv at the start pointt0), and iwt0 (iw at the start point t0) have a relationship representedby the following Equation 29.iu=ivL+iwL=ir  (Equation 27)iw=−iwL=−ir  (Equation 28)ivt0=0−iut0−iwt0  (Equation 29)

Here, in the second method, in a case where a current supplied to themotor 200 is detected by the single shunt resistor 20, the electricalangle estimation unit 12 does not use the method (electrical angleθ0{circumflex over ( )}) based on a phase current difference and themethod (electrical angle θ0e{circumflex over ( )}) based on a currentvalue in the stationary coordinate system in the second method. This isbecause, in the single-shunt method, a circulating current in a zerovector state (a state in which all the switching elements 9 a of anupper arm or a lower arm are turned off) cannot be detected. Theelectrical angle estimation unit 12 is configured to estimate anelectrical angle according to at least one of the method (electricalangle θ01{circumflex over ( )}) based on a line current difference andthe method (electrical angle θ01e{circumflex over ( )}) based on acurrent difference when two phases are short-circuited to each other (inthe second embodiment, both of the methods).

Specifically, the following process is performed. First, as illustratedin FIG. 16, in step S11, it is determined whether or not the motor 200is in a zero-cross state (a phase current difference is 0). A zero-crosstiming (electrical angle) is 30 degrees, 90 degrees, 150 degrees, 210degrees, 270 degrees, and 330 degrees. Actually, the zero-cross timing(electrical angle) is within a range of the angles ±k0 deg.

In a case of yes in step S11, in step S12, it is determined whether ornota cycle of pwm is an even number.

In a case of yes in step S12 (the cycle of pwm is an even number), instep S13, an electrical angle is estimated according to at least one ofthe method (electrical angle θ01{circumflex over ( )}) based on a linecurrent difference and the method (electrical angle θ01e{circumflex over( )}) based on a current difference when two phases are short-circuitedto each other. In step S12, an electrical angle estimation pulse shiftprocess is performed. The electrical angle estimation pulse shiftprocess is a process for securing the minimum time for detecting a statein which two phases are short-circuited to each other even in a casewhere the state in which two phases are short-circuited to each othercannot be detected through a single-shunt pulse shift process which willbe described later. Specifically, as illustrated in FIG. 17, a pulsewidth of a pwm signal is increased and decreased in order to secure theminimum time for detecting a state in which two phases areshort-circuited to each other. For example, at a timing at which acurrent is detected, a pulse width of a pwm signal (pwmv) is increased(refer to a dotted line in FIG. 17). A pulse width of the pwm signal isdecreased at another timing in order to complement the increase of thepulse width of the pwm signal. Consequently, the output amount of wholecurrent is not changed. A current value detected through the electricalangle estimation pulse shift process is used for current control.

In a case of no in step S11 and no in step S12 (in a case where thecycle of pwm is an odd number), the flow proceeds to step S14. In stepS14, the single-shunt pulse shift process is performed. As illustratedin FIG. 18, the single-shunt pulse shift process is a process of moving(shifting) a pulse width of a pwm signal with respect to a triangularwave C such that a pulse of the pwm signal is generated at the time atwhich a detection current is detected. As mentioned above, theelectrical angle estimation pulse shift process is different from thesingle-shunt pulse shift process in terms of processing method.Therefore, as described above, the electrical angle estimation pulseshift process and the single-shunt pulse shift process are switched toeach other depending on whether a cycle of pwm is an even number or anodd number, and thus it is possible to suppress interference in both ofthe processes.

Remaining configurations of the second embodiment are the same as thoseof the first embodiment.

Effects of Second Embodiment

In the second embodiment, the following effects can be achieved.

In the second embodiment, as described above, according to the method(electrical angle θ01{circumflex over ( )}) based on a line currentdifference and the method (electrical angle θ01e{circumflex over ( )})based on a current difference when two phases are short-circuited toeach other, it is possible to estimate an electrical angle even in acase where a current supplied to the motor 200 is detected by the singleshunt resistor 20 (in a case where a current value is detected at aseparate time point for each phase). As a result, it is possible toappropriately estimate an electrical angle even in a case where acurrent supplied to the motor 200 is detected by the single shuntresistor 20.

Third Embodiment

A description will be made of a configuration of the motor controldevice 100 according to a third embodiment. In the third embodiment, anelectrical angle θev{circumflex over ( )} is estimated on the basis ofan induced voltage in an off vector state unlike in the secondembodiment in which an electrical angle is estimated on the basis of theelectrical angle θ01{circumflex over ( )} and the electrical angleθ01e{circumflex over ( )}.

The second method further includes a method of estimating an electricalangle on the basis of an induced voltage in a zero vector state in acase where a current supplied to the motor 200 is detected by a singleshunt resistor 20. Specifically, in the motor control device 100, theelectrical angle θev{circumflex over ( )} is estimated on the basis of aline induced voltage as shown in the following Equation 30.Vα=(2/3)×(Euv−Evw/2−Ewu/2)Vβ=(1/√{square root over (3)})×(Evw−Ewu)θev{circumflex over ( )}=tan⁻¹(Vβ/Vα)−π/2−π/6  (Equation 30)

Here, Euv indicates a line induced voltage between the U phase and the Vphase, and Evw indicates a line induced voltage between the V phase andthe W phase. Ewu indicates a line induced voltage between the W phaseand the U phase.

Specifically, the line induced voltages are represented by the followingEquation 31.Eu{circumflex over ( )}=Eu−E0=−kvgain×ke×ω×sin(θ)Ev{circumflex over ( )}=Ev−E0=−kvgain×ke×ω×sin(θ−2×π/3)Ew{circumflex over ( )}=Ew−E0=−kvgain×ke×ω×sin(θ−4×π/3)  (Equation 31)

Here, ke indicates a counter-electromotive force constant, and kvgainindicates a voltage read gain. Here, Eu, Ev, and Ew respectivelyindicate terminal induced voltages with the U phase, the V phase, andthe W phase. In addition, ω indicates an electrical angular velocity.

The electrical angle θev{circumflex over ( )} switches between anglesdepending on whether the motor 200 is rotated clockwise (cw) orcounterclockwise (ccw). Specifically, when the motor 200 is rotatedclockwise (cw), the electrical angle θev{circumflex over ( )} is stillθev{circumflex over ( )} (θev{circumflex over ( )}=θev{circumflex over( )}). On the other hand, when the motor 200 is rotated counterclockwise(ccw), the electrical angle θev{circumflex over ( )} switches toθev{circumflex over ( )}−π (θev{circumflex over ( )}=θev{circumflex over( )}−π).

In the motor control device 100, the electrical angle θev{circumflexover ( )} may be estimated on the basis of a phase voltage (a terminalinduced voltage between a neutral point and a terminal with each phase)as shown in the following Equation 32.Vα=(2/3)×(Eu{circumflex over ( )}−Ev{circumflex over( )}/2−Ew{circumflex over ( )}/2)Vβ=(1/√{square root over (3)})×(Ev{circumflex over ( )}−Ew{circumflexover ( )})θev{circumflex over ( )}=tan⁻¹(Vβ/Vα)−π/2  (Equation 32)

The electrical angle θev{circumflex over ( )} estimated on the basis ofa phase voltage switches between angles depending on whether the motor200 is rotated clockwise (cw) or counterclockwise (ccw).

The terminal induced voltages are represented by the following Equation33.Eu{circumflex over ( )}=Eu−E0=−kvgain×ke×ω×sin(θ)Ev{circumflex over ( )}=Ev−E0=−kvgain×ke×ω×sin(θ−2×π/3)Ew{circumflex over ( )}=Ew−E0=−kvgain×ke×ω×sin(θ−4×π/3)  (Equation 33)

Here, Eu, Ev, and Ew respectively indicate terminal induced voltageswith the U phase, the V phase, and the W phase. The neutral point isrequired to be detected by hardware or to be estimated by software. Avoltage E0{circumflex over ( )} of the neutral point is calculated onthe basis of a relationship equation of E0{circumflex over( )}=Eu+Ev+Ew.

In the method of estimating the electrical angle θev{circumflex over( )} according to the third embodiment, a current value read accordingto the electrical angle estimation pulse shift process of the secondembodiment is not used for current control. This is because the readcurrent value is a current value in a zero vector state (off vectorstate).

In the method of estimating the electrical angle θev{circumflex over( )}according to the third embodiment, a timing at which an off vectoris applied is 0 degrees, 60 degrees, 120 degrees, 180 degrees, 240degrees, and 300 degrees. Actually, the timing at which an off vector isapplied is within a range of the angles ±k0 deg. In this case, since adifference between the terminal induced voltages is not taken, the offvector is applied once.

Remaining configurations of the third embodiment are the same as thoseof the first and second embodiments.

Effects of Third Embodiment

In the third embodiment, the following effects can be achieved.

In the third embodiment, as described above, in the method of estimatingan electrical angle on the basis of an induced voltage in an off vectorstate, robustness is higher than in the method based on a line currentdifference and the method based on a current difference when two phasesare short-circuited to each other, and thus it is possible to moreappropriately estimate an electrical angle.

Modification Examples

It is considered that the embodiments disclosed here are exemplary andare not limited in any aspect. The scope of the present invention isexhibited not by the description of the embodiments but by the claims,and includes all changes (modification examples) within the claims andthe meaning and the scope of equivalents thereof.

For example, in the first to third embodiments, a description has beenmade of an example of applying any one of the first method, the secondmethod, and the third method on the basis of Table 1, but the presentinvention is not limited thereto. Table 1 is only an example, and anyone of the first method, the second method, and the third method may beapplied on the basis of application methods other than the applicationmethod (application range) shown in Table 1.

In the first to third embodiments, a description has been made of anexample in which, in the second method, an electrical angle is estimatedon the basis of the above Equations 21 and 22 when a phase currentdifference is not zero and when a line current difference is not zero,but the present invention is not limited thereto. In the presentinvention, an electrical angle may not be estimated on the basis of theabove Equations 21 and 22.

In the first to third embodiments, a description has been made of anexample of performing a process of estimating an initial position of amotor when the motor steps out, but the present invention is not limitedthereto. As described above, since an override is performed at azero-cross timing, and thus step-out does not occur logically, theprocess when the motor steps out may be not performed.

In the second embodiment, a description has been made of an example inwhich the electrical angle estimation pulse shift process and thesingle-shunt pulse shift process are alternately performed with respectto a cycle (an even number and an odd number) of pwm, but the presentinvention is not limited thereto. For example, the electrical angleestimation pulse shift process may be performed once with respect to aplurality of single-shunt pulse shift processes.

A motor control device according to an aspect of the present inventioncontrols driving of a motor provided with a permanent magnet in responseto a d-axis current command and a q-axis current command that are set onthe basis of a torque command, and the motor control device includes anelectrical angle estimation unit configured to estimate an electricalangle of the motor according to at least one of a first method ofestimating the electrical angle of the motor on the basis that a leakagecurrent in a q axis becomes zero by applying a voltage to a d axis and,a second method of estimating the electrical angle of the motor on thebasis of at least one of a phase current difference and a line currentdifference caused by an induced voltage generated due to rotation of themotor becomes zero, and a third method of estimating the electricalangle on the basis of a voltage equation, depending on an angularvelocity of the motor, a modulation rate of a pwm signal, and whether amagnetic flux change is included in a nonlinear region in which themagnetic flux change is nonlinear, in which, in a case where theelectrical angle of the motor is estimated according to at least one ofthe first method and the third method, with respect to the electricalangle estimated according to the second method, the electrical angleestimation unit is configured to replace the electrical angle estimatedaccording to at least one of the first method and the third method withthe electrical angle estimated according to the second method.

In the motor control device according to the aspect of the presentinvention, as described above, in a case where the electrical angle ofthe motor is estimated according to at least one of the first method andthe third method, with respect to the electrical angle estimatedaccording to the second method, the electrical angle estimation unit isconfigured to replace the electrical angle estimated according to atleast one of the first method and the third method with the electricalangle estimated according to the second method. Here, in the secondmethod, an electrical angle can be relatively accurately estimated bydetecting a timing (zero-cross timing) at which at least one of thephase current difference and the line current difference is zero.Consequently, in a case where an electrical angle is successivelyestimated according to at least one of the first method and the thirdmethod, even though an error occurs in the estimated electrical angle,the error can be corrected by using the electrical angle estimatedaccording to the second method at the zero-cross timing. As a result, ina case where an electrical angle is successively estimated, it ispossible to correct an error in an estimated electrical angle.

In the motor control device according to the aspect, it is preferablethat the electrical angle estimation unit is configured to estimate theelectrical angle according to the first method and the second method ina case where the angular velocity of the motor is low, and estimate theelectrical angle according to the second method and the third method ina case where the angular velocity of the motor is high.

With this configuration, since the first method in which the accuracy ofestimation of an electrical angle is relatively high is used in a casewhere an angular velocity of the motor is low, and the third method inwhich the accuracy of estimation of an electrical angle is relativelyhigh is used in a case where the angular velocity of the motor isrelatively high, it is possible to perform estimation of an electricalangle with high accuracy in both of the cases where the angular velocityof the motor is low and high. As a result, it is possible to correct anerror in an estimated electrical angle while performing estimation of anelectrical angle with high accuracy in both of the cases where theangular velocity of the motor is low and high.

In the motor control device according to the aspect, it is preferablethat, in a case of overmodulation in which the modulation rate of thepwm signal is 1 or greater and in the nonlinear region in which themagnetic flux change is nonlinear, the electrical angle estimation unitis configured to estimate the electrical angle according to the secondmethod.

Here, in the first method and the third method, in a case ofovermodulation of a pwm signal and in a nonlinear region, estimation ofan electrical angle cannot be performed with high accuracy. Therefore,with this configuration, a zero-cross timing is detected according tothe second method, and thus an electrical angle can be relativelyaccurately estimated even in the case of overmodulation of a pwm signaland in the nonlinear region.

In this case, it is preferable that, in the second method in thenonlinear region in which the magnetic flux change is nonlinear, theelectrical angle estimation unit is configured to estimate a pluralityof predetermined electrical angles, and estimate an electrical anglebetween the predetermined electrical angles through interpolationcalculation.

with this configuration, as described above, in the second method, anelectrical angle can be estimated at only a zero-cross timing (30degrees, 60 degrees, 90 degrees, and the like), and thus electricalangles at timings other than the zero-cross timing can be estimated byperforming interpolation calculation.

In the motor control device according to the aspect, it is preferablethat, in the second method, when the phase current difference is notzero and when the line current difference is not zero, the electricalangle estimation unit is configured to estimate an electrical angle atwhich the phase current difference is zero and an electrical angle atwhich the line current difference is zero on the basis of the followingEquations 4 and 5:θ0c{circumflex over ( )}=θ0t{circumflex over ( )}−Δi*×ω{circumflex over( )}/ΔΔ1*  (Equation 4)θ10c{circumflex over ( )}=θ01t{circumflex over ( )}−Δi*×ω{circumflexover ( )}/ΔΔ1*  (Equation 5)

where, θ0t{circumflex over ( )} and θ01t{circumflex over ( )}respectively indicate target values (predetermined electrical angles),Δi* indicates a current difference, ΔΔ1* indicates a change rate of Δi*,and * indicates the d axis or the q axis.

With this configuration, when a zero-cross timing cannot be detectedaccording to the second method, an electrical angle can be estimated onthe basis of Equations 4 and 5.

In the motor control device according to the aspect, it is preferablethat, in the second method, the electrical angle estimation unit isconfigured to compensate for a delay of the electrical angle estimatedaccording to the second method on the basis of an equipment constant ofthe motor.

In this configuration, in the second method, an electrical angle isestimated on the basis of a current (a phase current and a linecurrent), and thus a phase may be delayed with respect to a voltage.Therefore, with this configuration, a delay of the electrical angle(phase) is compensated for, and thus it is possible to improve theaccuracy of estimation of the electrical angle.

In the motor control device according to the aspect, it is preferablethat the second method includes a method based on a current value in astationary coordinate system and a method based on a current differencewhen two phases are short-circuited to each other, in addition to amethod based on the phase current difference and a method based on theline current difference.

With this configuration, even in a case where an electrical angle cannotbe appropriately estimated according to the method based on a phasecurrent difference and the method based on a line current difference, anelectrical angle can be estimated according to the method based on acurrent value in the stationary coordinate system and the method basedon a current difference when two phases are short-circuited to eachother.

In this case, in the motor control device according to the aspect, it ispreferable that, in the method based on the current value in thestationary coordinate system, the electrical angle estimation unit isconfigured to estimate the electrical angle of the motor on the basis ofcurrent values in two phases in which absolute values of current valuesor absolute values of change amounts of currents are greater among threephases.

With this configuration, it is possible to improve noise resistance withrespect to a current value and a change amount of the current value.

In the motor control device in which the second method includes themethod based on the current value in the stationary coordinate systemand the method based on the current difference when the two phases areshort-circuited to each other, in the method based on the current valuein the stationary coordinate system, it is preferable that theelectrical angle estimation unit is configured to reduce noise on thebasis of a d-axis current value and a q-axis current value.

With this configuration, noise is reduced, and thus it is possible toincrease the accuracy of estimation of an electrical angle.

In the motor control device in which the second method includes themethod based on the current value in the stationary coordinate systemand the method based on the current difference when the two phases areshort-circuited to each other, it is preferable that an angular velocityof the motor to which the method based on the current value in thestationary coordinate system is applied is higher than an angularvelocity of the motor to which the method based on the currentdifference when the two phases are short-circuited to each other isapplied.

With this configuration, a method for increasing the accuracy ofestimation of an electrical angle is selected depending on an angularvelocity of the motor, and thus it is possible to further increase theaccuracy of estimation of an electrical angle.

In the motor control device in which the second method includes themethod based on the current value in the stationary coordinate systemand the method based on the current difference when the two phases areshort-circuited to each other, it is preferable that, in a case where acurrent supplied to the motor is detected by a single shunt resistor, inthe second method, the electrical angle estimation unit is configured toestimates the electrical angle according to the at least one of themethod based on the line current difference and the method based on thecurrent difference when the two phases are short-circuited to eachother, instead of using the method based on the phase current differenceand the method based on the current value in the stationary coordinatesystem.

With this configuration, according to at least one of the method basedon the line current difference and the method based on the currentdifference when the two phases are short-circuited to each other, it ispossible to estimate an electrical angle even in a case where a currentsupplied to the motor is detected by the single shunt resistor (in acase where a current value is detected at a separate time point for eachphase). Consequently, it is possible to appropriately estimate anelectrical angle even in a case where a current supplied to the motor isdetected by the single shunt resistor.

In the motor control device in which the second method includes themethod based on the current value in the stationary coordinate systemand the method based on the current difference when the two phases areshort-circuited to each other, it is preferable that, in a case where acurrent supplied to the motor is detected by a single shunt resistor,the second method further includes a method of estimating the electricalangle on the basis of an induced voltage in an off vector state. Here,the “off vector state” indicates that all switching elements are turnedoff in an H bridge circuit (power conversion circuit) including aplurality of switching elements (an upper arm and a lower arm).

With this configuration, in the method of estimating an electrical angleon the basis of an induced voltage in an off vector state, robustness isrelatively higher than in the method based on the line currentdifference and the method based on the current difference when the twophases are short-circuited to each other, and thus it is possible tomore appropriately estimate an electrical angle.

In the motor control device according to the aspect, it is preferablethat, in the second method, the electrical angle estimation unit isconfigured to estimates an electrical angle by performing a plurality oftimes of sampling for detecting an electrical angle such that the numberof times of sampling is increased as the angular velocity of the motorbecomes lower, and performing movement averaging on results of theplurality of times of sampling.

With this configuration, even in a case where noise is included in acurrent (a phase current or a line current), it is possible to reducethe influence of the noise.

In the motor control device according to the aspect, it is preferablethat, in the first method, the electrical angle estimation unit isconfigured to reduces an interval of sampling for estimating theelectrical angle according to the first method in a case where a changerate of a q-axis current is high more than in a case where the changerate of the q-axis current is low.

With this configuration, even in a case where a change rate of a q-axiscurrent is high, an electrical angle can be appropriately estimatedaccording to the first method.

In the motor control device according to the aspect, it is preferablethat, in the first method, the electrical angle estimation unit isconfigured to corrects an electrical angle estimated when magnetic fluxis saturated on the basis of the following Equation 6:θvd{circumflex over ( )}=θvd{circumflex over ( )}×SV0/SV1SV0=ω{circumflex over ( )}×Kt{circumflex over ( )}idn0+(Ld{circumflexover ( )}idn0−Lq{circumflex over ( )}idn0)×(ω{circumflex over( )}×idrefn−piqrefn)SV1=ω{circumflex over ( )}×Kt{circumflex over ( )}idn+(Ld{circumflexover ( )}idn−Lq{circumflex over ( )}idn)×(ω{circumflex over( )}×idrefn−piqrefn)  (Equation 6)

where, ω indicates an angular velocity, Kt indicates acounter-electromotive force constant, Ld indicates d-axis inductance, Lqindicates q-axis inductance, idrefn indicates a d-axis current commandvalue, iqrefn indicates a q-axis current command value, the subscriptind indicates the present value, the subscript ind0 indicates a value ina region in which magnetic flux of the motor is not saturated, and pindicates time differentiation.

With this configuration, even in a case where magnetic flux issaturated, an electrical angle can be appropriately estimated.

In the motor control device according to the aspect, it is preferablethat, the electrical angle estimation unit is configured to performs asmoothing process such that values before and after replacement arecontinued when an estimated value that is estimated according to atleast one of the first method and the third method is replaced with theelectrical angle estimated according to the second method.

With this configuration, it is possible to suppress an estimatedelectrical angle from rapidly changing.

In the motor control device according to the aspect, it is preferablethat, when the motor steps out, the electrical angle estimation unit isconfigured to estimate an initial position of the motor on the basis ofa voltage being applied to the permanent magnet of the motor in a casewhere the angular velocity of the motor is around zero, continuouslyestimate the electrical angle in a case where the angular velocity ofthe motor is more than around zero, and stop the motor in a case wherestep-out of the motor is detected a predetermined number of times ormore within a predetermined period.

With this configuration, in a case where an angular velocity of themotor is around zero, an initial position of the motor is estimated, andthus it is possible to estimate the subsequent electrical angle withhigh accuracy. In a case where step-out of the motor is detected apredetermined number of times or more within a predetermined period, themotor is stopped, and thus it is possible to prevent driving of themotor from being continued in a state in which the motor steps out.

In the motor control device according to the aspect, it is preferablethat the electrical angle estimation unit is configured to perform timedifferentiation on the estimated electrical angle so as to calculate theangular velocity, and replace an angular velocity calculated on thebasis of the electrical angle estimated according to the third methodwith an angular velocity calculated on the basis of the electrical angleestimated according to the second method.

With this configuration, an angular velocity is substituted on the basisof electrical angles estimated according to the second method in whichan electrical angle can be relatively accurately estimated, and thus itis possible to improve the accuracy of estimation of an electrical angleand also to improve the robustness of the estimation of an electricalangle.

In the motor control device according to the aspect, it is preferablethat, in the first method, in a case where a difference between q-axisinductance and d-axis inductance is less than a predetermined thresholdvalue, the difference between the q-axis inductance and the d-axisinductance is increased by performing at least one of an increase of theq-axis inductance and a decrease of the d-axis inductance.

With this configuration, even in a case where it is difficult toestimate an electrical angle according to the first method due to arelatively small difference between the q-axis inductance and the d-axisinductance, it is possible to easily estimate an electrical angle byusing the configuration.

The principles, preferred embodiment and mode of operation of thepresent invention have been described in the foregoing specification.However, the invention which is intended to be protected is not to beconstrued as limited to the particular embodiments disclosed. Further,the embodiments described herein are to be regarded as illustrativerather than restrictive. Variations and changes may be made by others,and equivalents employed, without departing from the spirit of thepresent invention. Accordingly, it is expressly intended that all suchvariations, changes and equivalents which fall within the spirit andscope of the present invention as defined in the claims, be embracedthereby.

What is claimed is:
 1. A motor control device that controls driving of amotor provided with a permanent magnet in response to a d-axis currentcommand and a q-axis current command that are set on the basis of atorque command, the motor control device comprising: an electrical angleestimation unit configured to estimate an electrical angle of the motoraccording to at least one of a first method of estimating the electricalangle of the motor on the basis that a leakage current in a q axisbecomes zero by applying a voltage to a d axis, a second method ofestimating the electrical angle of the motor on the basis that at leastone of a phase current difference and a line current difference causedby an induced voltage generated due to rotation of the motor becomeszero, and a third method of estimating the electrical angle on the basisof a voltage equation, depending on an angular velocity of the motor, amodulation rate of a pwm signal, and whether a magnetic flux change isincluded in a nonlinear region in which the magnetic flux change isnonlinear, wherein in a case where the electrical angle of the motor isestimated according to at least one of the first method and the thirdmethod, with respect to the electrical angle estimated according to thesecond method, the electrical angle estimation unit is configured toreplace the electrical angle estimated according to at least one of thefirst method and the third method with the electrical angle estimatedaccording to the second method.
 2. The motor control device according toclaim 1, wherein the electrical angle estimation unit is configured toestimate the electrical angle according to the first method and thesecond method in a case where the angular velocity of the motor is low,and estimate the electrical angle according to the second method and thethird method in a case where the angular velocity of the motor is high.3. The motor control device according to claim 1, wherein in a case ofovermodulation in which the modulation rate of the pwm signal is 1 orgreater and in the nonlinear region in which the magnetic flux change isnonlinear, the electrical angle estimation unit is configured toestimate the electrical angle according to the second method.
 4. Themotor control device according to claim 3, wherein in the second methodin the nonlinear region in which the magnetic flux change is nonlinear,the electrical angle estimation unit is configured to estimate aplurality of predetermined electrical angles, and estimate an electricalangle between the predetermined electrical angles through interpolationcalculation.
 5. The motor control device according to claim 1, whereinin the second method, when the phase current difference is not zero andwhen the line current difference is not zero, the electrical angleestimation unit is configured to estimate an electrical angle at whichthe phase current difference is zero and an electrical angle at whichthe line current difference is zero on the basis of the followingEquations 1 and 2:θ0c{circumflex over ( )}=θ0t{circumflex over ( )}−Δi*×ω{circumflex over( )}/ΔΔ1*  Equation 1)θ10{circumflex over ( )}=θ01t{circumflex over ( )}−Δi*×ω{circumflex over( )}/ΔΔ1*  Equation 2) where, θ0t{circumflex over ( )} andθ01t{circumflex over ( )} respectively indicate target values, Δi*indicates a current difference, ΔΔ1* indicates a change rate of Δi*,and * indicates the d axis or the q axis.
 6. The motor control deviceaccording to claim 1, wherein in the second method, the electrical angleestimation unit is configured to compensate for a delay of theelectrical angle estimated according to the second method on the basisof an equipment constant of the motor.
 7. The motor control deviceaccording to claim 1, wherein the second method includes a method basedon a current value in a stationary coordinate system and a method basedon a current difference when two phases are short-circuited to eachother, in addition to a method based on the phase current difference anda method based on the line current difference.
 8. The motor controldevice according to claim 7, wherein in the method based on the currentvalue in the stationary coordinate system, the electrical angleestimation unit is configured to estimate the electrical angle of themotor on the basis of current values in two phases in which absolutevalues of current values or absolute values of change amounts ofcurrents are greater among three phases.
 9. The motor control deviceaccording to claim 7, wherein in the method based on the current valuein the stationary coordinate system, the electrical angle estimationunit is configured to reduce noise on the basis of a d-axis currentvalue and a q-axis current value.
 10. The motor control device accordingto claim 7, wherein an angular velocity of the motor to which the methodbased on the current value in the stationary coordinate system isapplied is higher than an angular velocity of the motor to which themethod based on the current difference when the two phases areshort-circuited to each other is applied.
 11. The motor control deviceaccording to claim 7, wherein in a case where a current supplied to themotor is detected by a single shunt resistor, in the second method, theelectrical angle estimation unit is configured to estimate theelectrical angle according to the at least one of the method based onthe line current difference and the method based on the currentdifference when the two phases are short-circuited to each other,instead of using the method based on the phase current difference andthe method based on the current value in the stationary coordinatesystem.
 12. The motor control device according to claim 7, wherein in acase where a current supplied to the motor is detected by a single shuntresistor (20), the second method further includes a method of estimatingthe electrical angle on the basis of an induced voltage in an off vectorstate.
 13. The motor control device according to claim 1, wherein in thesecond method, the electrical angle estimation unit is configured toestimate the electrical angle by performing a plurality of times ofsampling for detecting an electrical angle such that the number of timesof sampling is increased as the angular velocity of the motor becomeslower, and performing movement averaging on results of the plurality oftimes of sampling.
 14. The motor control device according to claim 1,wherein in the first method, the electrical angle estimation unit isconfigured to reduce an interval of sampling for estimating theelectrical angle according to the first method in a case where a changerate of a q-axis current is high more than in a case where the changerate of the q-axis current is low.
 15. The motor control deviceaccording to claim 1, wherein in the first method, the electrical angleestimation unit is configured to correct an electrical angle estimatedwhen magnetic flux is saturated on the basis of the following Equation:θvd{circumflex over ( )}=θvd{circumflex over ( )}×(ω{circumflex over( )}×Kt{circumflex over ( )}idn0+(Ld{circumflex over( )}idn0−Lq{circumflex over ( )}idn0)×(ω{circumflex over( )}×idrefn−piqrefn))/(ω{circumflex over ( )}×Kt{circumflex over( )}idn+(Ld{circumflex over ( )}idn−Lq{circumflex over( )}idn)×(ω{circumflex over ( )}×idrefn−piqrefn)) where, ω indicates anangular velocity, Kt indicates a counter-electromotive force constant,Ld indicates d-axis inductance, Lq indicates q-axis inductance, idrefnindicates a d-axis current command value, iqrefn indicates a q-axiscurrent command value, the subscript ind indicates the present value,the subscript ind0 indicates a value in a region in which magnetic fluxof the motor is not saturated, and p indicates time differentiation. 16.The motor control device according to claim 1, wherein the electricalangle estimation unit is configured to perform a smoothing process suchthat values before and after replacement are continued when anelectrical angle that is estimated according to at least one of thefirst method and the third method is replaced with the electrical angleestimated according to the second method.
 17. The motor control deviceaccording to claim 1, wherein when the motor steps out, the electricalangle estimation unit is configured to estimate an initial position ofthe motor on the basis of a voltage being applied to the permanentmagnet of the motor in a case where the angular velocity of the motor isaround zero, continuously estimate the electrical angle in a case wherethe angular velocity of the motor is more than around zero, and stop themotor in a case where step-out of the motor is detected a predeterminednumber of times or more within a predetermined period.
 18. The motorcontrol device according to claim 1, wherein the electrical angleestimation unit is configured to perform time differentiation on theestimated electrical angle so as to calculate the angular velocity, andreplace an angular velocity calculated on the basis of the electricalangle estimated according to the third method with an angular velocitycalculated on the basis of the electrical angle estimated according tothe second method.
 19. The motor control device according to claim 1,wherein in the first method, in a case where a difference between q-axisinductance and d-axis inductance is less than a predetermined thresholdvalue, the difference between the q-axis inductance and the d-axisinductance is increased by performing at least one of an increase of theq-axis inductance and a decrease of the d-axis inductance.